CN206133312U - Electromagnetism car of standing vertically based on control of PID algorithm - Google Patents

Abstract

The utility model discloses an electromagnetism car of standing vertically based on control of PID algorithm, which comprises a carriage body, the automobile body top is equipped with bluetooth module, bluetooth module electric connection PCB control circuit board, PCB control circuit board sets up inside the automobile body, just the last PID controller that is equipped with of PCB control circuit board, one side electric connection gyroscope of PID controller, gyroscope one side is equipped with acceleration sensor, acceleration sensor electric connection the PID controller, PID controller electric connection driving motor, driving motor sets up the bottom of automobile body inner chamber, just driving motor is equipped with two, two in the opposite direction is faced respectively to driving motor's rotation axis, connect traveling wheel on the rotation axis, the utility model discloses simplify the upright structural design of car, alleviateed the upright system load of car, improved the upright motion stability and the nature controlled of car moreover.

Description

A kind of upright car of electromagnetism controlled based on pid algorithm

Technical field

The utility model belongs to car mould technical field, more particularly to a kind of upright car of electromagnetism controlled based on pid algorithm.

Background technology

The match that walks upright of car mould is traveling mode that double-wheel self-balancing electrombile is copied in requirement, allows car mould with two trailing wheels Driving is walked upright, in recent years, double-wheel self-balancing electrombile with its walking flexibly, convenient, energy-conservation the features such as obtained very Big development, the research for having many this respects both at home and abroad also has corresponding product, in the match of electromagnetism group, make use of traditional vehicle The characteristics of mould double rear wheel drives, realizes that double-wheel self-balancing is walked, relative to the car mould competition model of traditional four-wheel walking, Che Mo Walk upright and put forward higher requirement at aspects such as carbody inspection, control algolithms, the upright garage in correlation technique walks stable Property and manipulation accuracy it is relatively low, during the games, being interfered is susceptible to swing or go out racing track, therefore, develop a kind of The upright car of electromagnetism controlled based on pid algorithm is the field urgent problem.

Utility model content

The purpose of this utility model is that and a kind of electromagnetism controlled based on pid algorithm is provided to solve the above problems Upright car.

The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of electromagnetism based on pid algorithm control is straight Vertical car, including car body, the car body top is provided with bluetooth module, and the bluetooth module is electrically connected with PCB control boards, described PCB control boards are arranged on the vehicle body, and the PCB control boards are provided with PID controllers, the PID The side of controller is electrically connected with gyroscope, and the gyroscope side is provided with acceleration transducer, the acceleration transducer electricity Property the connection PID controllers, the PID controllers are electrically connected with motor, and the motor is arranged on the car The bottom of intracoelomic cavity, and the motor is provided with two, the rotary shaft of two motors is respectively facing contrary side To connection traveling wheel in the rotary shaft.

Preferably, the gyroscope is arranged in the center of gravity of the car body with the acceleration transducer.

Preferably, the gyroscope is three-axis gyroscope.

Preferably, it is provided with drive module between the PID controllers and the motor.

Preferably, the motor is variable speed electric motors, particularly.

Preferably, battery is provided with the car body, the battery is electrically connected with the PCB control boards.

The beneficial effects of the utility model are：The parameter that the utility model passes through the control PID controllers, controls institute The rotary speed of motor is stated, the walking of upright car is realized using the different rotary speed of the motor, is accelerated and turn It is curved, due to the PID controllers it is minimum in all of control algolithm complexity, it is not necessary to carry out complexity system build Mould, control effect is good, simple and practical, not only ensure that the normal operation of upright car, also improves the handling of upright car, And the manufacturing cost of upright car is reduced, reduce the volume of upright car.

Description of the drawings

Fig. 1 is a kind of structural representation of the upright car of electromagnetism controlled based on pid algorithm.

In figure：1st, car body；2nd, bluetooth module；3rd, PCB control boards；4th, PID controllers；5th, gyroscope；6th, acceleration Sensor；7th, motor；8th, rotary shaft；9th, traveling wheel；10th, drive module；11st, battery.

Specific embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment, based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of the utility model protection.

Fig. 1 is referred to, the utility model discloses a kind of upright car of electromagnetism controlled based on pid algorithm, including car body 1, The top of the car body 1 is provided with bluetooth module 2, and the bluetooth module 2 is electrically connected with PCB control boards 3, the PCB controls electricity Road plate 3 is arranged on inside the car body 1, and the PCB control boards 3 are provided with PID controllers 4, the PID controllers 4 side is electrically connected with gyroscope 5, and the side of the gyroscope 5 is provided with acceleration transducer 6, and the acceleration transducer 6 is electrical Connect the PID controllers 4, the PID controllers 4 are electrically connected with motor 7, and the motor 7 is arranged on described The bottom of the inner chamber of car body 1, and the motor 7 is provided with two, the rotary shaft 8 of two motors 7 is respectively facing phase Anti- direction, connection traveling wheel 9 in the rotary shaft 8.

The gyroscope 5 is arranged in the center of gravity of the car body 1 with the acceleration transducer 6, by by the gyro Instrument 5 is arranged at the position of centre of gravity of the car body 1 with the acceleration transducer 6, not only increases the stability of car body 1, also The manipulation operation error caused because of shake in the running of the car body 1 can be reduced, the gyroscope 5 is three-axis gyroscope 5, Because three-axis gyroscope 5 has the advantages that small volume, lightweight, simple structure and good reliability, can using three-axis gyroscope 5 The performance accuracy of upright car is improved, increases the performance of upright car, be provided between the PID controllers 4 and the motor 7 Drive module 10, by arranging the drive module 10 between the PID controllers 4 and the motor 7, using institute State drive module 10 and control the operating voltage of the motor 7, and detect the rotary speed of the motor 7, the PID Controller 4 controls the motor 7 according to the feedback information of the drive module 10 with the control information of the bluetooth module 2 Operation, the motor 7 be variable speed electric motors, particularly, the motor 7 is set to into variable speed electric motors, particularly, by the drive module The rotary speed of the 10 controls motor 7 can realize the turning action of the car body 1, and stability is high, handling strong, Battery 11 is provided with the car body 1, the battery 11 is electrically connected with the PCB control boards 3, by the car body 1 Arrange the battery 11 to power for the PCB control boards 3, for upright car electric energy is provided, it is ensured that in the continuation of the journey of upright car Journey.

The utility model when in use, the PID controllers 4 receive the gyroscope 5, the acceleration transducer 6, The feedback signal of the drive module 10 and the bluetooth module 2, the car body 1 according to the signal identification of the bluetooth module 2 The action that needs are completed, and corresponding instruction is sent to the drive module 10, the PID controllers 4 are respectively adopted PD controls System, PI are controlled and the different actions of car body 1 described in P control operations, wherein, it is the upright action of upright car that PD control is corresponding, PI control it is corresponding be upright car speed, P control it is corresponding be upright car go to action, when the car body 1 gives it the gun, The PID controllers 4 are that the motor 7 applies forward voltage by the drive module 10, and the motor accelerates rotation Turn, reduce the voltage of the motor 7, the car body 1 reduces traveling, different by controlling two motors 7 Rotary speed realizes the steering of the car body 1.

It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and And in the case of without departing substantially from spirit or essential attributes of the present utility model, can in other specific forms realize that this practicality is new Type, therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, this practicality is new The scope of type is by claims rather than described above is limited, it is intended that the equivalency fallen in claim is contained All changes in justice and scope are included in the utility model, any reference in claim should not be considered as into restriction Involved claim.

Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of specification is only that for clarity those skilled in the art should Using specification as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art Understandable other embodiment.

Claims (6)

1. a kind of upright car of electromagnetism controlled based on pid algorithm, including car body（1）, it is characterised in that：The car body（1）Top It is provided with bluetooth module（2）, the bluetooth module（2）It is electrically connected with PCB control boards（3）, the PCB control boards（3） It is arranged on the car body（1）Inside, and the PCB control boards（3）It is provided with PID controllers（4）, the PID controls Device（4）Side be electrically connected with gyroscope（5）, the gyroscope（5）Side is provided with acceleration transducer（6）, the acceleration Sensor（6）It is electrically connected with the PID controllers（4）, the PID controllers（4）It is electrically connected with motor（7）, it is described Motor（7）It is arranged on the car body（1）The bottom of inner chamber, and the motor（7）Two are provided with, two drivings Motor（7）Rotary shaft（8）It is respectively facing contrary direction, the rotary shaft（8）Upper connection traveling wheel（9）.

2. it is according to claim 1 it is a kind of based on pid algorithm control the upright car of electromagnetism, it is characterised in that：The gyro Instrument（5）With the acceleration transducer（6）It is arranged on the car body（1）Center of gravity on.

3. it is according to claim 1 it is a kind of based on pid algorithm control the upright car of electromagnetism, it is characterised in that：The gyro Instrument（5）For three-axis gyroscope（5）.

4. it is according to claim 1 it is a kind of based on pid algorithm control the upright car of electromagnetism, it is characterised in that：The PID Controller（4）With the motor（7）Between be provided with drive module（10）.

5. it is according to claim 1 it is a kind of based on pid algorithm control the upright car of electromagnetism, it is characterised in that：The driving Motor（7）For variable speed electric motors, particularly.

6. it is according to claim 1 it is a kind of based on pid algorithm control the upright car of electromagnetism, it is characterised in that：The car body （1）Inside it is provided with battery（11）, the battery（11）It is electrically connected with the PCB control boards（3）.